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This book evolved itself out of 25 years of teaching experience in the subject, moulding different important aspects into a one-year course of mechanism and machine theory. Basic principles of analysis and synthesis of mechanisms with lower and higher pairs are both included considering both kinematic and kinetic aspects. A chapter on hydrodynamic lubrication is included in the book. Balancing machines are introduced in the chapter on balancing of rotating parts. Mechanisms used in control namely, Governors and Gyroscopes are discussed in a separate chapter. The book also contains a chapter on principles of theory of vibrations as applied to machines. A Solution Manual to problems given at the end of each chapter is also available. Principles of balancing of linkages is also included. Thus, the book takes into account all aspects of mechanism and machine theory to the reader studying a first course on this subject. This book is intended for undergraduate students taking basic courses in mechanism and machine theory. The practice of machines has been initially to use inventions and establishment of basic working models and then generalising the theory and hence the earlier books emphasises these principles. With the advancement of theory particularly in the last two decades, new books come up with a stress on specific topics. The book retains all the aspects of mechanism and machine theory in a unified manner as far as possible for a two-semester course at undergraduate level without recourse to following several text books and derive the benefits of basic principles recently advanced in mechanism and machine theory. About The Author Prof. J.S. Rao (Hons.), M. Tech, Ph.D., D.Sc, taught at the Indian Institute of Technology, Kharagpur and Delhi for over 30 years. He has also taught at the University of Surrey, as a Commonwealth Fellow; at National Institute of Applied Sciences, Lyon; Concordia University, Montreal; Rochester Institute of Technology and Gesamthoch schule in Kassel as Visiting Professor. Prof. Rao started a new Centre on Industrial Tribology, Machine Dynamics and Maintenance Engineering at IIT, Delhi in 1977. He also served as Science Counselor at the Indian Embassy in Washington during 1984-88. Prof, Rao has been the Chairman of IFToMM Rotor Dynamics Committee from 1983-90 and is a member of IFToMM Executive Council and Chairman of IFToMM Commission on Conferences. Prof. Rao has been the Founder President of Association of Machines and Mechanisms in India and is the President of Indian Society of Theoretical and Applied Mechanics. He is a member of Indian National Academy of Engineering and American Society of Mechanical Engineers. He is also Chairman of Vibration and Rotor Dynamics Group of the Aeronautical Research and Development Board Propulsion Panel, and member of ASME IGT Structures and Dynamics Committee. Prof. Rao produced 26 Ph.Ds and published 5 text books and over 200 papers. He has been a consultant to various organizations in India such as BHEL, GTRE and abroad such as Washington Metro Authority, Stress Technology Inc. etc. His biographical sketch is reviewed by Marquis Who’s who, Men of Achievement, Who’s who in Common wealth, Leaders in Education & Educationists Who’s who International, and Reference Asia. Rao V. Dukkipati is presently Professor of Mechanical Engineering, Fairfield University, Fair-field, Connecticut. He received his Ph.D. in 1973 from Oklahoma State University, M.Sc. E. and M.E. degrees from the University of New Brunswick, Canada, and the Andhra University, India, in 1971 and 1969, respectively. He received his B.E. degree from Sri Venkateswara University, India, in 1966. His research interests lie in design analysis of mechanical systems and vehicle dynamics. He has published numerous papers in technical journals. He has also authored several text and reference books. He is a Fellow of the American Society for Mechanical Engineers and the Canadian Society of Mechanical Engineering’s. He is the recipient of the 1985 TANA Distinguished Engineer award and the 1997 Bernard Roth award for significant contributions in the area of mechanisms and robotics.